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Fix stacked grid sensor #5335

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Merged
merged 3 commits into from
May 3, 2021
Merged

Fix stacked grid sensor #5335

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99bf29c
fix stacked grid sensor
May 1, 2021
9e7dd6b
update tests
May 1, 2021
e147c45
use list
May 3, 2021
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38 changes: 21 additions & 17 deletions com.unity.ml-agents/Runtime/Sensors/GridSensorComponent.cs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
using System.Collections.Generic;
using System.Linq;
using UnityEngine;

namespace Unity.MLAgents.Sensors
Expand All @@ -11,7 +12,7 @@ public class GridSensorComponent : SensorComponent
{
// dummy sensor only used for debug gizmo
GridSensorBase m_DebugSensor;
List<ISensor> m_Sensors;
List<GridSensorBase> m_Sensors;
internal BoxOverlapChecker m_BoxOverlapChecker;

[HideInInspector, SerializeField]
Expand Down Expand Up @@ -196,7 +197,6 @@ public int ObservationStacks
/// <inheritdoc/>
public override ISensor[] CreateSensors()
{
m_Sensors = new List<ISensor>();
m_BoxOverlapChecker = new BoxOverlapChecker(
m_CellScale,
m_GridSize,
Expand All @@ -213,29 +213,33 @@ public override ISensor[] CreateSensors()
m_DebugSensor = new GridSensorBase("DebugGridSensor", m_CellScale, m_GridSize, m_DetectableTags, SensorCompressionType.None);
m_BoxOverlapChecker.RegisterDebugSensor(m_DebugSensor);

var gridSensors = GetGridSensors();
if (gridSensors == null || gridSensors.Length < 1)
m_Sensors = GetGridSensors().ToList();
if (m_Sensors == null || m_Sensors.Count < 1)
{
throw new UnityAgentsException("GridSensorComponent received no sensors. Specify at least one observation type (OneHot/Counting) to use grid sensors." +
"If you're overriding GridSensorComponent.GetGridSensors(), return at least one grid sensor.");
}

foreach (var sensor in gridSensors)
// Only one sensor needs to reference the boxOverlapChecker, so that it gets updated exactly once
m_Sensors[0].m_BoxOverlapChecker = m_BoxOverlapChecker;
foreach (var sensor in m_Sensors)
{
if (ObservationStacks != 1)
{
m_Sensors.Add(new StackingSensor(sensor, ObservationStacks));
}
else
{
m_Sensors.Add(sensor);
}
m_BoxOverlapChecker.RegisterSensor(sensor);
}

// Only one sensor needs to reference the boxOverlapChecker, so that it gets updated exactly once
((GridSensorBase)m_Sensors[0]).m_BoxOverlapChecker = m_BoxOverlapChecker;
return m_Sensors.ToArray();
if (ObservationStacks != 1)
{
var sensors = new ISensor[m_Sensors.Count];
for (var i = 0; i < m_Sensors.Count; i++)
{
sensors[i] = new StackingSensor(m_Sensors[i], ObservationStacks);
}
return sensors;
}
else
{
return m_Sensors.ToArray();
}
}

/// <summary>
Expand All @@ -262,7 +266,7 @@ internal void UpdateSensor()
m_BoxOverlapChecker.ColliderMask = m_ColliderMask;
foreach (var sensor in m_Sensors)
{
((GridSensorBase)sensor).CompressionType = m_CompressionType;
sensor.CompressionType = m_CompressionType;
}
}
}
Expand Down
13 changes: 12 additions & 1 deletion com.unity.ml-agents/Tests/Runtime/Sensor/GridSensorTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ public void TestCreateSensor()
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);

gridSensorComponent.CreateSensors();
var componentSensor = (List<ISensor>)typeof(GridSensorComponent).GetField("m_Sensors",
var componentSensor = (List<GridSensorBase>)typeof(GridSensorComponent).GetField("m_Sensors",
BindingFlags.Instance | BindingFlags.NonPublic).GetValue(gridSensorComponent);
Assert.AreEqual(componentSensor.Count, 1);
}
Expand Down Expand Up @@ -191,6 +191,17 @@ public void TestNoSensors()
gridSensorComponent.CreateSensors();
});
}

[Test]
public void TestStackedSensors()
{
testGo.tag = k_Tag2;
string[] tags = { k_Tag1, k_Tag2 };
gridSensorComponent.SetComponentParameters(tags, useGridSensorBase: true);
gridSensorComponent.ObservationStacks = 3;
var sensors = gridSensorComponent.CreateSensors();
Assert.IsInstanceOf(typeof(StackingSensor), sensors[0]);
}
}
}
#endif